CN111390948A - Multi-kinetic-energy mechanical arm tail end execution device with image acquisition and force feedback functions - Google Patents
Multi-kinetic-energy mechanical arm tail end execution device with image acquisition and force feedback functions Download PDFInfo
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- CN111390948A CN111390948A CN202010306545.0A CN202010306545A CN111390948A CN 111390948 A CN111390948 A CN 111390948A CN 202010306545 A CN202010306545 A CN 202010306545A CN 111390948 A CN111390948 A CN 111390948A
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- clamping jaw
- mechanical arm
- image acquisition
- force feedback
- kinetic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The utility model provides an end final actuating device of multi-kinetic energy arm with image acquisition and force feedback, it relates to an end final actuating device of multi-functional arm, concretely relates to end final actuating device of multi-kinetic energy arm with image acquisition and force feedback. The invention aims to solve the problem that the existing mechanical arm tail end execution device does not have the functions of image acquisition and force feedback. The mechanical arm comprises a force sensor, a connecting structure, a camera and a clamping jaw, wherein the clamping jaw and the force sensor are installed at the tail end of the mechanical arm through flanges, the connecting structure is installed on the clamping jaw, and the camera is installed on the front face of the connecting structure. The invention belongs to the field of robot automation.
Description
Technical Field
The invention relates to a multifunctional mechanical arm tail end execution device, in particular to a multifunctional mechanical arm tail end execution device with image acquisition and force feedback functions, and belongs to the field of robot automation.
Background
An end effector of a robot arm is a tool for the robot arm to perform a task, and is sometimes referred to as a hand, a gripper, a manipulator, or the like. The main function of a robotic arm is to grasp and manipulate an item with an end device. The tail end executing device is arranged on a mechanical interface of the manipulator and is used for finishing the operation of a specified task.
With the development of robotics, the design of a robot end device becomes a hot spot for the next research. It is desirable that the mechanical arm can accomplish a variety of tasks to achieve the goals of reducing cost and improving efficiency. This puts higher demands on the design and development of the end devices of the robot arms.
In the research on the end device of the mechanical arm, how to enable the end execution device with the function of the clamping jaw object to complete the task of pressing the key is a complicated problem. Due to the existence of the clamping jaw joint, the clamping jaw is easy to bend, and the pressing of the key cannot be realized. Therefore, it is a need to provide a robot arm end device capable of simultaneously gripping an object and pressing a button.
Disclosure of Invention
The invention provides a multi-kinetic energy mechanical arm tail end executing device with image acquisition and force feedback functions, aiming at solving the problem that the existing mechanical arm tail end executing device does not have the image acquisition and force feedback functions.
The technical scheme adopted by the invention for solving the problems is as follows: the mechanical arm comprises a force sensor, a connecting structure, a camera and a clamping jaw, wherein the clamping jaw and the force sensor are installed at the tail end of the mechanical arm through flanges, the connecting structure is installed on the clamping jaw, and the camera is installed on the front face of the connecting structure.
Furthermore, the invention also comprises an electric push rod which is arranged on the side surface of the connecting structure.
Furthermore, a groove with a circular cross section is formed in the side face of the connecting structure, and the electric push rod is installed in the groove with the circular cross section.
Furthermore, a camera slot extending forwards is arranged on the front surface of the connecting structure, and the camera is installed in the camera slot.
Further, the clamping jaw includes clamping jaw main part, two clamping jaw fingers and clamping jaw drive mechanism, the clamping jaw main part passes through the flange mounting and is in the end of arm, and two clamping jaw fingers are installed through clamping jaw drive mechanism on the clamping jaw main part.
Further, the lens axis of the camera, the axis of the clamping jaw and the axis of the tail end of the mechanical arm are parallel to each other.
Furthermore, the axis of the force sensor, the axis of the base of the clamping jaw and the axis of the tail end of the mechanical arm are collinear.
The invention has the beneficial effects that: the invention can realize two operations of grabbing objects and pressing keys. In actual use, the invention can complete tasks with various targets and function requirements, provides more choices and flexibility for users in complex application scenes, and further reduces the purchase and maintenance cost of the users; the invention has the function of image acquisition. The camera provides an image in front of the clamping jaw, and a user can design an algorithm by using the image to realize visual servo on the mechanical arm; the invention has the force feedback function. The force sensor arranged on the clamping jaw base detects the external force and the moment applied to the device in the task execution process, and a user can design a safety control algorithm or control task load by using the information.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic backside view of the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a right side view of the present invention;
fig. 5 is a top view of the present invention.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 5, and the multi-kinetic energy robot arm end effector with image acquisition and force feedback in the embodiment includes a force sensor 1, a connecting structure 2, a camera 3, and a clamping jaw, where the clamping jaw and the force sensor 1 are mounted at the end of the robot arm through flanges, the connecting structure 2 is mounted on the clamping jaw, and the camera 3 is mounted on the front surface of the connecting structure 2.
The second embodiment is as follows: the embodiment is described with reference to fig. 1 to 5, and the multi-kinetic energy mechanical arm end effector with image acquisition and force feedback according to the embodiment further includes an electric push rod 5, and the electric push rod 5 is installed at a side surface of the connecting structure 2. Other components and connections are the same as those in the first embodiment.
The third concrete implementation mode: the embodiment is described with reference to fig. 1 to 5, and a groove with a circular cross section is formed in a side surface of the connection structure 2 of the multi-kinetic energy mechanical arm end effector with image acquisition and force feedback, and the electric push rod 5 is installed in the groove with the circular cross section. Other components and connection relationships are the same as those in the second embodiment.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 1 to 5, and the front surface of the connection structure 2 of the multi-kinetic energy mechanical arm end effector with image acquisition and force feedback of the embodiment is provided with a camera slot which extends forwards, and the camera 3 is installed in the camera slot. Other components and connections are the same as those in the first embodiment.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 5, and the clamping jaw of the multi-kinetic energy robot arm end effector with image acquisition and force feedback in the present embodiment includes a clamping jaw body, two clamping jaw fingers 4 and a clamping jaw transmission mechanism 6, the clamping jaw body is mounted at the end of the robot arm through a flange, and the two clamping jaw fingers 4 are mounted on the clamping jaw body through the clamping jaw transmission mechanism 6. Other components and connections are the same as those in the first embodiment.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 1 to 5, and the lens axis, the gripper axis, and the robot end axis of the camera 3 of the multi-kinetic energy robot end effector having image capturing and force feedback according to the present embodiment are parallel to each other. Other components and connections are the same as those in the first embodiment.
The seventh embodiment: the present embodiment is described with reference to fig. 1 to 5, and the axis of the force sensor 1, the axis of the base of the clamping jaw, and the axis of the robot end of the multi-kinetic energy robot end effector with image acquisition and force feedback in the present embodiment are collinear. Other components and connections are the same as those in the first embodiment.
Principle of operation
According to the invention, the camera acquires the image in front of the clamping jaw, and a user can judge and position the specific position of the target object through image information and control the mechanical arm tail end execution device to align the target object. Selecting and executing actions according to task targets:
1. the task target is to clamp an object: the electric push rod is controlled to retract, the length of the electric push rod is smaller than that of the clamping jaw, and the electric push rod cannot influence the action of the clamping jaw. The invention controls the clamping jaws to fold or unfold to complete the operation of grabbing a target object;
2. the task target is to press a key: the clamping jaw opens, and the clamping jaw directional base direction retracts, and simultaneously electric putter stretches out, makes push rod length be greater than clamping jaw length, and the clamping jaw can not cause the influence to the action of push rod. The user uses the electric push rod to complete the operation of pressing the button.
In the process, the force sensor arranged at the base of the clamping jaw detects the external force and the moment applied to the clamping jaw.
The control mode of the invention is as follows:
the first control mode of the invention can complete the function of clamping objects, and the method comprises the following steps:
firstly, a camera collects an image in front of a clamping jaw and positions the position of a target object;
secondly, controlling the tail end execution device of the mechanical arm to align to the object;
step three, retracting a push rod of the mechanical arm;
and step four, clamping the object by using the clamping jaw.
The second control mode of the present invention:
in a second embodiment of the present invention, a key pressing task can be completed, the method includes the following steps:
firstly, a camera collects an image in front of a clamping jaw and positions the position of a target object;
step two, opening the clamping jaw, and extending a push rod of the mechanical arm;
step three, controlling the tail end device of the mechanical arm to align to the object;
and step four, moving the mechanical arm, and pressing the key by using the push rod.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides an end final actuating device of multi-kinetic energy arm with image acquisition and force feedback which characterized in that: the utility model provides an end final actuating device of multi-kinetic energy arm with image acquisition and force feedback includes force sensor (1), connection structure (2), camera (3) and clamping jaw, clamping jaw and force sensor (1) are passed through the flange and are installed at the end of arm, and connection structure (2) are installed on the clamping jaw, the front at connection structure (2) is installed in camera (3).
2. The multi-kinetic mechanical arm end effector with image acquisition and force feedback of claim 1, wherein: the multi-kinetic-energy mechanical arm tail end executing device with the image acquisition and force feedback functions further comprises an electric push rod (5), and the electric push rod (5) is installed on the side face of the connecting structure (2).
3. The multi-kinetic mechanical arm end effector with image acquisition and force feedback of claim 2, wherein: the side surface of the connecting structure (2) is provided with a groove with a circular cross section, and the electric push rod (5) is arranged in the groove with the circular cross section.
4. The multi-kinetic mechanical arm end effector with image acquisition and force feedback of claim 1, wherein: the front surface of the connecting structure (2) is provided with a camera groove extending forwards, and the camera (3) is arranged in the camera groove.
5. The multi-kinetic mechanical arm end effector with image acquisition and force feedback of claim 1, wherein: the clamping jaw comprises a clamping jaw body, two clamping jaw fingers (4) and a clamping jaw transmission mechanism (6), wherein the clamping jaw body is installed at the tail end of the mechanical arm through a flange, and the two clamping jaw fingers (4) are installed on the clamping jaw body through the clamping jaw transmission mechanism (6).
6. The multi-kinetic mechanical arm end effector with image acquisition and force feedback of claim 1, wherein: the lens axis of the camera (3), the axis of the clamping jaw and the axis of the tail end of the mechanical arm are parallel to each other.
7. The multi-kinetic mechanical arm end effector with image acquisition and force feedback of claim 1, wherein: the axial line of the force sensor (1), the axial line of the base of the clamping jaw and the axial line of the tail end of the mechanical arm are collinear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010306545.0A CN111390948A (en) | 2020-04-17 | 2020-04-17 | Multi-kinetic-energy mechanical arm tail end execution device with image acquisition and force feedback functions |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010306545.0A CN111390948A (en) | 2020-04-17 | 2020-04-17 | Multi-kinetic-energy mechanical arm tail end execution device with image acquisition and force feedback functions |
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| Publication Number | Publication Date |
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| CN111390948A true CN111390948A (en) | 2020-07-10 |
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| CN202010306545.0A Pending CN111390948A (en) | 2020-04-17 | 2020-04-17 | Multi-kinetic-energy mechanical arm tail end execution device with image acquisition and force feedback functions |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112932546A (en) * | 2021-01-26 | 2021-06-11 | 溥熵微创医疗科技(辽宁)有限公司 | Throat swab sampling method based on visual analysis |
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| CN101372097A (en) * | 2008-09-12 | 2009-02-25 | 山东大学 | Tower type robot arm and paw suitable for service location |
| CN202716271U (en) * | 2012-08-04 | 2013-02-06 | 合肥泰禾光电科技股份有限公司 | Joint-type medium-duty intelligent control palletizing robot |
| CN205184763U (en) * | 2015-11-30 | 2016-04-27 | 迈赫机器人自动化股份有限公司 | Take single armed multi -spindle machining hand of gentle and agreeable control |
| CN105818134A (en) * | 2016-05-12 | 2016-08-03 | 南京理工大学 | Intelligent mechanical arm with automatic button pressing function |
| US20160271801A1 (en) * | 2015-03-20 | 2016-09-22 | Hyundai Motor Company | Inspection system and inspection method for electronic device of vehicle |
| CN108127639A (en) * | 2017-12-30 | 2018-06-08 | 南京理工大学 | A kind of goods transportation robot for floor gap |
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2020
- 2020-04-17 CN CN202010306545.0A patent/CN111390948A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101372097A (en) * | 2008-09-12 | 2009-02-25 | 山东大学 | Tower type robot arm and paw suitable for service location |
| CN202716271U (en) * | 2012-08-04 | 2013-02-06 | 合肥泰禾光电科技股份有限公司 | Joint-type medium-duty intelligent control palletizing robot |
| US20160271801A1 (en) * | 2015-03-20 | 2016-09-22 | Hyundai Motor Company | Inspection system and inspection method for electronic device of vehicle |
| CN205184763U (en) * | 2015-11-30 | 2016-04-27 | 迈赫机器人自动化股份有限公司 | Take single armed multi -spindle machining hand of gentle and agreeable control |
| CN105818134A (en) * | 2016-05-12 | 2016-08-03 | 南京理工大学 | Intelligent mechanical arm with automatic button pressing function |
| CN108127639A (en) * | 2017-12-30 | 2018-06-08 | 南京理工大学 | A kind of goods transportation robot for floor gap |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112932546A (en) * | 2021-01-26 | 2021-06-11 | 溥熵微创医疗科技(辽宁)有限公司 | Throat swab sampling method based on visual analysis |
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| CB03 | Change of inventor or designer information |
Inventor after: Chen Hui Inventor after: Sun Jingting Inventor after: Jiang Di Inventor after: Wang Yuanze Inventor before: Chen Hui Inventor before: Sun Jingting |
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Address after: Room 02, 4th Floor, Building A3, Nanshan Zhiyuan, No. 1001 Xueyuan Avenue, Changyuan Community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province, 518055 Applicant after: Jing Ke (Shenzhen) robot technology Co.,Ltd. Address before: 518110 Room 403, building 7, Jinxiu Dadi, No. 117, Hudi Pai, songyuanxia community, Guanhu street, Longhua District, Shenzhen City, Guangdong Province Applicant before: Jing Ke (Shenzhen) robot technology Co.,Ltd. |
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